# Unitree G1 Simplified Upper Body Robot UID: `unitree_g1_simplified_upper_body` Agent Class Code: [https://github.com/haosulab/ManiSkill/blob/main/mani_skill/agents/robots/unitree_g1/g1_upper_body.py](https://github.com/haosulab/ManiSkill/blob/main/mani_skill/agents/robots/unitree_g1/g1_upper_body.py) Quality: B (Stable, but some values are unrealistic) Degrees of Freedom: 25 Controllers: `pd_joint_delta_pos`, `pd_joint_pos` ## Visuals and Collision Models
unitree_g1_simplified_upper_body unitree_g1_simplified_upper_body

Visual Meshes


unitree_g1_simplified_upper_body unitree_g1_simplified_upper_body

Collision Meshes (Green = Convex Mesh, Blue = Primitive Shape Mesh)